CN113442122B - Large-surface detection operation robot system - Google Patents

Abstract

The invention discloses a large-surface detection operation robot system which comprises a plurality of passive mechanical arms paved on a working surface and sequentially connected, a revolute pair mechanism connected between the end parts of two adjacent passive mechanical arms, fixed sliding rails arranged on each passive mechanical arm and distributed along the length direction of the passive mechanical arms, transition sliding rails which are arranged on the revolute pair mechanism in a deflectable way and are butted with two adjacent sections of fixed sliding rails, and a movable operation platform which is arranged on the fixed sliding rails and the transition sliding rails and is used for carrying out tracking detection operation on the working surface, wherein a detection module is carried on the movable operation platform. Therefore, the extension direction of the passive mechanical arm is flexibly adjusted by utilizing the revolute pair mechanism according to the specific shape of the working surface, so that the detection module mounted on the movable working platform can carry out detection operation along the sliding track, the detection operation range of the detection module is ensured to cover the whole working surface, the adaptability to the working surfaces with different shapes is improved, and the missing of the operation area is avoided.

Description

A large surface inspection robot system

Technical Field

The invention relates to the technical field of civil engineering, and in particular to a large surface detection operation robot system.

Background Art

The maintenance of large-scale infrastructure is of great significance to ensure the safety and stability of equipment structures. For example, a series of scenes such as dams, thermal power plant cooling towers, large building glass curtain walls, large tunnels and bridge bottoms often require regular inspections and repairs for defects after they are put into use to ensure their safe use. These large-scale infrastructures usually have the characteristics of wide coverage, harsh environmental conditions, and large height differences, which makes their maintenance work very difficult.

For scenarios involving ultra-large surface inspections, such as dam surface inspections, cooling tower surface inspections, large glass curtain wall inspections, surface crack inspections on bridges and tunnels, and surface repairs, traditional inspection methods usually involve building auxiliary structures such as ladders, scaffolding, and hanging cranes on the work surface, and then manually standing on these auxiliary structures to perform manual inspections. However, this type of inspection method has a huge workload, high work intensity, a long work cycle, and high labor costs. When the work surface is high, there is also a safety hazard of falling from a height. In addition, due to the lack of rigid structural support and limited observation field of view, problems such as incomplete inspections and missed inspection results may occur.

In the prior art, some improved inspection methods use drones to inspect working surfaces such as the bottom of bridges. Although this inspection method is highly efficient, it is still difficult to overcome difficulties such as positioning difficulties, poor image stability, and low accuracy because it is based on long-distance observation of drone platforms. In addition, drones can usually only move according to the trajectory predetermined by the program, with a small operating radius and poor flexibility. They are difficult to adapt to working surfaces with complex shapes, and there may be some missed working areas. In addition, due to the limited load capacity of drones, they can usually only be used for operations such as photography, and are powerless for operations such as maintenance operations, which has great limitations.

Therefore, how to safely and efficiently implement surface inspection operations on large-surface facilities, improve adaptability to working surfaces of different shapes, and avoid missing working areas is a technical problem faced by technical personnel in this field.

Summary of the invention

The purpose of the present invention is to provide a large surface inspection robot system, which can safely and efficiently realize surface inspection operations on large surface facilities, improve adaptability to working surfaces of different shapes, and avoid missing working areas.

In order to solve the above technical problems, the present invention provides a large surface detection operation robot system, including a plurality of passive robotic arms laid on a working surface and connected in sequence, a rotational sub-mechanism connected between the ends of two adjacent passive robotic arms, a fixed slide rail arranged on each of the passive robotic arms and distributed along the length direction thereof, a transition slide rail rotatably arranged on the rotational sub-mechanism and docked with two adjacent sections of the fixed slide rails, and a mobile working platform slidably arranged on the fixed slide rail and the transition slide rail for performing track detection operations on the working surface, wherein a detection module is mounted on the mobile working platform.

Preferably, the rotational pair mechanism comprises a primary rotating wheel arranged at the end of the adjacent primary passive mechanical arm, and a secondary rotating wheel arranged at the end of the adjacent secondary passive mechanical arm, and the rim of the secondary rotating wheel can be circumferentially meshingly connected to the rim surface of the primary rotating wheel.

Preferably, the transition slide rail includes a first transition section rotatably disposed on the end surface of the primary rotating wheel, and a second transition section rotatably disposed on the end surface of the secondary rotating wheel, and the opposite ends of the first transition section and the second transition section are connected to each other after rotating to a preset angle.

Preferably, the end surface of the first transition section and the corresponding end surface of the fixed slide rail are both arc surfaces that match each other, and the end surface of the second transition section and the corresponding end surface of the fixed slide rail are both arc surfaces that match each other.

Preferably, the end surface of the primary rotating wheel is also provided with a primary rotating shaft, a primary rotating disk sleeved on the primary rotating shaft, and a primary mounting bracket erected on the surface of the primary rotating disk and used for mounting the first transition section.

Preferably, the end surface of the secondary rotating wheel is also provided with a secondary rotating shaft, a secondary rotating disk sleeved on the secondary rotating shaft, and a secondary mounting bracket erected on the surface of the secondary rotating disk and used for mounting the second transition section.

Preferably, the fixed slide rails are distributed in parallel on the side surfaces of each of the passive robotic arms; it also includes a rotating joint arm that can be rotatably connected in series on the end surface of each of the passive robotic arms, and a reversing slide rail that is arranged on the side surfaces of the rotating joint arm and is used to dock with the corresponding fixed slide rail.

Preferably, the rotary joint arm and the passive mechanical arm are both rectangular bodies with the same cross-sectional shape.

Preferably, the mobile working platform includes a frame and a sliding wheel system arranged on the frame and slidingly cooperating with the fixed slide rail, the transition slide rail and the reversing slide rail, as well as a driver arranged on the frame and used to drive the rotating pair mechanism to rotate, drive the transition slide rail to deflect, and drive the rotating joint arm to rotate when sliding to a corresponding position.

Preferably, the detection module comprises a retractable connecting rod connected to the frame and a plurality of detection sensors arranged at the end of the connecting rod.

The large surface detection operation robot system provided by the present invention mainly includes a plurality of passive mechanical arms, a rotational sub-mechanism, a fixed slide rail, a transitional slide rail, a mobile working platform and a detection module. Among them, there are multiple passive mechanical arms, and they are laid on the working surface according to a certain extension direction. The specific laying range covers the entire working surface, and each passive mechanical arm is connected in order according to the extension direction, so as to form a large length mechanical arm by splicing. The rotational sub-mechanism is arranged between the ends of two adjacent passive mechanical arms, and is respectively connected to the two adjacent passive mechanical arms, and is mainly used to realize the relative rotation of the two adjacent passive mechanical arms, and realize the deflection of the extension direction (in the working surface) of the passive mechanical arms. The fixed slide rail is arranged on each passive mechanical arm and distributed along the length direction (i.e., the extension direction) of the passive mechanical arm. The transitional slide rail is arranged on the rotational sub-mechanism, and can perform a deflection movement (in the working surface) on the rotational sub-mechanism, and is mainly used to dock the fixed slide rails on the two adjacent passive mechanical arms after being deflected by the rotational sub-mechanism, so that the adjacent two sections of the fixed slide rail remain continuous. The mobile working platform is arranged on the passive mechanical arm and slides along the fixed slide rail and the transition slide rail. Meanwhile, the mobile working platform is equipped with a detection module, which is mainly used to perform the line tracking detection operation on the working surface during the sliding process, so as to gradually complete the detection operation in the whole range of the working surface. In this way, the large surface detection operation robot system provided by the present invention is laid on the working surface through a plurality of passive mechanical arms connected in sequence, during which the extension direction of the passive mechanical arm is flexibly adjusted according to the specific shape of the working surface by using the rotational pair mechanism, and at the same time, the fixed slide rails of each section are connected to form a complete sliding track by using the transition slide rail, so that the detection module carried by the mobile working platform can perform the detection operation along the sliding track, ensuring that the detection operation range of the detection module covers the entire working surface. Compared with the prior art, the present invention can safely and efficiently realize the surface detection operation of large surface facilities, improve the adaptability to working surfaces of different shapes, and avoid missing the operation area.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

FIG1 is a schematic diagram of the overall structure of a specific implementation method provided by the present invention.

FIG. 2 is a schematic diagram of the specific structure of the passive robotic arm.

FIG. 3 is a schematic diagram of the specific structure of the rotary pair mechanism.

FIG. 4 is a cross-sectional view of a primary rotating wheel or a secondary rotating wheel.

FIG. 5 is a schematic diagram of the specific structure of the rotary joint arm.

FIG. 6 is a schematic diagram of the installation structure of the rotary sub-mechanism and the rotary joint arm on the passive robot arm.

FIG. 7 is a schematic diagram of the specific structure of the mobile working platform.

Among them, in Figures 1 to 7:

Passive mechanical arm—1, rotating auxiliary mechanism—2, fixed slide rail—3, transition slide rail—4, mobile working platform—5, detection module—6, rotating joint arm—7, reversing slide rail—8;

A primary rotating wheel 21, a secondary rotating wheel 22, a first transition section 41, a second transition section 42, a frame 51, a sliding wheel train 52, a driver 53, a connecting rod 61, and a detection sensor 62;

Primary rotating shaft—211, primary rotating disk—212, primary mounting bracket—213, secondary rotating shaft—221, secondary rotating disk—222, secondary mounting bracket—223.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Please refer to FIG. 1 , which is a schematic diagram of the overall structure of a specific implementation method provided by the present invention.

In a specific implementation manner provided by the present invention, the large surface inspection operation robot system mainly includes a plurality of passive robotic arms 1, a rotational sub-mechanism 2, a fixed slide rail 3, a transition slide rail 4, a mobile operation platform 5 and an inspection module 6.

There are multiple passive manipulators 1, which are laid on the working surface in a certain extension direction, and the specific laying range covers the entire working surface, and each passive manipulator 1 is connected in order in the extension direction, so as to form a long-length manipulator. Generally, a long-length manipulator formed by connecting multiple passive manipulators 1 usually has redundant multi-dimensional motion freedom.

The rotational sub-mechanism 2 is arranged between the ends of two adjacent passive robotic arms 1 and is respectively connected to the two adjacent passive robotic arms 1 , and is mainly used to realize the relative rotation of the two adjacent passive robotic arms 1 and realize the deflection of the extension direction (within the working surface) of the passive robotic arms 1 .

The fixed slide rails 3 are arranged on each passive robot arm 1 and are distributed along the length direction (ie, the extension direction) of the passive robot arm 1 .

The transition slide rail 4 is arranged on the rotating joint mechanism 2 and can perform deflection movement (within the working surface) on the rotating joint mechanism 2. It is mainly used to dock the fixed slide rails 3 on two adjacent passive robotic arms 1 after being deflected by the rotating joint mechanism 2, so that the two adjacent sections of the fixed slide rails 3 remain continuous.

The mobile working platform 5 is arranged on the passive robot arm 1 and slides along the fixed slide rail 3 and the transition slide rail 4. At the same time, the mobile working platform 5 is equipped with a detection module 6, which is mainly used to perform along-line tracking detection operations on the working surface during the sliding process, thereby gradually completing the detection operations within the entire range of the working surface.

In this way, the large surface inspection operation robot system provided in this embodiment is laid on the working surface through multiple passive robotic arms 1 connected in sequence. During this period, the extension direction of the passive robotic arms 1 is flexibly adjusted according to the specific shape of the working surface by using the rotation sub-mechanism 2. At the same time, the various sections of the fixed slide rails 3 are connected by the transition slide rails 4 to form a complete sliding track, so that the inspection module 6 carried by the mobile working platform 5 can perform inspection operations along the sliding track, ensuring that the inspection operation range of the inspection module 6 covers the entire working surface.

Compared with the prior art, this embodiment can safely and efficiently implement surface inspection operations on large-surface facilities, improve adaptability to working surfaces of different shapes, and avoid missing working areas.

As shown in FIG. 2 , FIG. 2 is a schematic diagram of the specific structure of the passive robotic arm 1 .

In a preferred embodiment of the passive mechanical arm 1, the passive mechanical arm 1 is specifically a rectangular parallelepiped structure, including a plurality of long cross bars, short longitudinal bars and diagonal bars, forming a truss structure as a whole. Among them, each passive mechanical arm 1 is modularly designed, but the length of the long cross bars in different passive mechanical arms 1 can be different according to needs, so as to be flexibly laid on the working surface.

As shown in FIG. 3 , FIG. 3 is a schematic diagram of the specific structure of the rotary sub-mechanism 2 .

In a preferred embodiment of the rotational pair mechanism 2, the rotational pair mechanism 2 mainly includes a primary rotating wheel 21 and a secondary rotating wheel 22. The primary rotating wheel 21 is arranged on the end of the primary passive mechanical arm 1 (based on the extension direction) of two adjacent (or two) passive mechanical arms 1, and the secondary rotating wheel 22 is arranged on the end of the secondary passive mechanical arm 1 of the two adjacent passive mechanical arms 1, and the secondary rotating wheel 22 and the primary rotating wheel 21 are opposite to each other. At the same time, the rim of the secondary rotating wheel 22 forms a meshing rotation connection with the rim of the primary rotating wheel 21, wherein the primary rotating wheel 21 remains stationary, and the secondary rotating wheel 22 can perform circumferential rotational motion along the rim of the primary rotating wheel 21 through meshing transmission.

Generally, the primary rotating wheel 21 is semicircular in shape, and the secondary transmission wheel is also semicircular, and the arcs of the two mesh with each other. With such an arrangement, the secondary transmission wheel can theoretically gradually mesh along one end of the diameter of the primary transmission wheel and rotate to the other end of the diameter, and the maximum rotation angle can reach 180°, which is equivalent to realizing the change from turning left to turning right of the upper-level passive robotic arm 1.

In a preferred embodiment of the transition rail 4, considering that the rotational pair mechanism 2 is a split structure including a primary rotating wheel 21 and a secondary rotating wheel 22, the transition rail 4 is also a split structure, specifically including a first transition section 41 and a second transition section 42. The first transition section 41 is arranged on the end face (or surface) of the primary rotating wheel 21, and can perform a rotational movement on the end face of the primary rotating wheel 21 to adjust the direction. Similarly, the second transition section 42 is arranged on the end face (or surface) of the secondary transmission wheel, and can perform a rotational movement on the end face of the secondary transmission wheel to adjust the direction. In this way, when the secondary rotating wheel 22 deflects relative to the primary rotating wheel 21, the first transition section 41 and the second transition section 42 can also independently adjust their respective directions, so that the first transition section 41 docks with the fixed rail 3, or the first transition section 41 and the second transition section 42 dock with each other, or the second transition section 42 docks with the fixed rail 3.

Generally, the first transition section 41 is distributed on the end face of the primary transmission wheel along a certain diameter direction thereof, and the second transition section 42 is distributed on the end face of the secondary transmission wheel along a certain diameter direction thereof, and the rotation axis of the first transition end is located at the axis of the primary transmission wheel, and the rotation axis of the second transition section 42 is located at the axis of the secondary transmission wheel.

Furthermore, in order to facilitate the first transition section 41 to dock with the corresponding fixed slide rail 3 after rotating a certain angle, and to facilitate the second transition section 42 to dock with the corresponding fixed slide rail 3 after rotating a certain angle, in the present embodiment, the end face of the first transition section 41 and the end face of the corresponding fixed slide rail 3 are both matching arc surfaces. Similarly, the end face of the second transition section 42 and the end face of the corresponding fixed slide rail 3 are both matching arc surfaces, thereby forming a complete and continuous sliding track when docking.

As shown in FIG. 4 , FIG. 4 is a cross-sectional view of the primary rotating wheel 21 or the secondary rotating wheel 22 .

Furthermore, in order to facilitate the rotational movement of the first transition section 41 on the end surface of the primary rotating wheel 21, a primary rotating shaft 211, a primary rotating disk 212 and a primary mounting bracket 213 are additionally provided in this embodiment.

Among them, the primary rotating shaft 211 is erected on the end face of the primary rotating wheel 21 and has a certain height (or length). A connecting structure, such as a coupling, is arranged on the top end face of the primary rotating shaft 211, which is mainly used to connect with the driver 53 on the subsequent mobile working platform 5, so that after the mobile working platform 5 moves to the first transition section 41, the primary rotating shaft 211 is driven by the driver 53 to rotate. The primary rotating disk 212 is sleeved on the primary rotating shaft 211 and rotates synchronously with it. The primary mounting bracket 213 is erected on the surface of the primary rotating disk 212, and is mainly used to install the first transition section 41. Generally, since the fixed slide rail 3 and the transition slide rail 4 both include two (or more) parallel distributed slide rails, the primary mounting bracket 213 can be specifically in a "Y" shape, so that two parallel distributed first transition sections 41 can be installed at the same time. With such arrangement, when the mobile working platform 5 drives the primary rotating shaft 211 to rotate, the primary mounting bracket 213 and the first transition section 41 can be driven to rotate synchronously through the primary rotating disk 212 .

Similarly, in order to facilitate the rotational movement of the second transition section 42 on the end surface of the secondary rotating wheel 22, a secondary rotating shaft 221, a secondary rotating disk 222 and a secondary mounting bracket 223 are additionally provided in this embodiment.

Among them, the secondary rotating shaft 221 is erected on the end face of the secondary rotating wheel 22, and has a certain height (or length). A connecting structure, such as a coupling, is arranged on the top end face of the secondary rotating shaft 221, which is mainly used to connect with the driver 53 on the subsequent mobile working platform 5, so that after the mobile working platform 5 moves to the second transition section 42, the secondary rotating shaft is driven by the driver 53 to rotate. The secondary rotating disk 222 is sleeved on the secondary rotating shaft 221 and rotates synchronously with it. The secondary mounting bracket 223 is erected on the surface of the secondary rotating disk 222, and is mainly used to install the second transition section 42. Generally, the secondary mounting bracket 223 is also specifically in a "Y" shape, so that two parallel second transition sections 42 can be installed at the same time. In this way, when the mobile working platform 5 drives the secondary rotating shaft 221 to rotate, the secondary mounting bracket 223 and the second transition section 42 can be driven to rotate synchronously through the secondary rotating disk 222.

As shown in FIG. 5 and FIG. 6 , FIG. 5 is a schematic diagram of the specific structure of the rotary joint arm 7 , and FIG. 6 is a schematic diagram of the installation structure of the rotary sub-mechanism 2 and the rotary joint arm 7 on the passive robot arm 1 .

In another specific embodiment provided by the present invention, the large surface inspection operation robot system includes, in addition to a number of passive robotic arms 1, a rotational sub-mechanism 2, a fixed slide rail 3, a transition slide rail 4, a mobile working platform 5 and a detection module 6, a rotating joint arm 7 and a reversing slide rail 8.

The rotary joint arm 7 is connected in series to the end surface of each passive mechanical arm 1, and is generally arranged at both ends of each passive mechanical arm 1 with the rotary sub-mechanism 2, and the rotary joint arm 7 can perform circumferential rotation (rotation) relative to the passive mechanical arm 1. The reversing slide rails 8 are arranged on each side surface (four side walls) of the rotary joint arm 7 and are distributed along its length direction.

Accordingly, in this embodiment, the fixed slide rails 3 are simultaneously distributed on each side surface (four side walls) of the passive manipulator 1. Moreover, the specific distribution position of each reversing slide rail 8 on each side surface of the rotary joint arm 7 corresponds to the specific distribution position of each fixed slide rail 3 on each side surface of the passive manipulator 1, so that each reversing slide rail 8 can be docked with each fixed slide rail 3.

With such arrangement, when the mobile working platform 5 moves onto the reversing slide rail 8 of the rotating joint arm 7, if the working area or working position needs to be changed, the rotating joint arm 7 can be driven by the driver 53 in the mobile working platform 5 to perform rotational motion, thereby rotating the mobile working platform 5 to the target position, thereby realizing the cross-plane reversing operation of the mobile working platform 5 on the passive robotic arm 1.

Generally, the overall structure of the rotating joint arm 7 is similar to that of the passive robotic arm 1 , both of which are rectangular truss structures, and their cross-sectional shapes are the same as those of the passive robotic arm 1 , but the length of the rotating joint arm 7 is usually smaller than that of the passive robotic arm 1 .

As shown in FIG. 7 , FIG. 7 is a schematic diagram of the specific structure of the mobile working platform 5 .

In a preferred embodiment of the mobile working platform 5, the mobile working platform 5 mainly includes a frame 51, a sliding wheel system 52 and a driver 53. Among them, the frame 51 is the main structure of the mobile working platform 5, which is mainly used to install other parts. The sliding wheel system 52 is arranged on the frame 51, and is mainly used to slide with the complete and continuous sliding track formed by the fixed slide rail 3, the transition slide rail 4 and the reversing slide rail 8. The driver 53 is arranged on the frame 51, which is the core component and power source of the robot system. It is mainly used to drive the secondary rotating wheel 22 in the rotating sub-mechanism 2 to deflect relative to the primary rotating wheel 21, drive the first transition section 41 and the second transition section 42 in the transition slide rail 4 to deflect respectively, and drive the rotating joint arm 7 to rotate relative to the passive robot arm 1 when the frame 51 slides to the corresponding position. The above-mentioned driven components only produce corresponding actions when driven by the driver 53, and maintain a self-locking state or a latest state in other states.

In a preferred embodiment of the detection module 6, the detection module 6 mainly includes a connecting rod 61 and a detection sensor 62. The connecting rod 61 is arranged on the frame 51 and can be telescopically adjusted, and the detection sensor 62 is arranged at the end of the connecting rod 61. Generally, multiple detection sensors can be arranged at the same time to perform multiple detection operations at the same time, such as a camera, a laser sensor, etc.

The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. A large surface inspection robot system, characterized in that it comprises a plurality of passive mechanical arms (1) laid on a working surface and connected in sequence, a rotational pair mechanism (2) connected between the ends of two adjacent passive mechanical arms (1), a fixed slide rail (3) arranged on each of the passive mechanical arms (1) and distributed along the length direction thereof, a transitional slide rail (4) rotatably arranged on the rotational pair mechanism (2) and docking with two adjacent sections of the fixed slide rail (3), and a mobile working platform (5) slidably arranged on the fixed slide rail (3) and the transitional slide rail (4) for performing a track-following inspection operation on the working surface, wherein the mobile working platform (5) is equipped with an inspection module (6); The rotational pair mechanism (2) comprises a primary rotating wheel (21) arranged at the end of the adjacent primary passive mechanical arm (1), and a secondary rotating wheel (22) arranged at the end of the adjacent secondary passive mechanical arm (1), wherein the rim of the secondary rotating wheel (22) can be circumferentially meshingly connected to the inner rim surface of the primary rotating wheel (21); The transition rail (4) comprises a first transition section (41) rotatably arranged on the end surface of the primary rotating wheel (21), and a second transition section (42) rotatably arranged on the end surface of the secondary rotating wheel (22), and the opposite ends of the first transition section (41) and the second transition section (42) are butted against each other after being rotated to a preset angle; The passive mechanical arm (1) is specifically a rectangular parallelepiped structure, comprising a plurality of long horizontal bars, short longitudinal bars and diagonal bars, forming a truss structure as a whole; The primary rotating wheel (21) is specifically semicircular in shape, and the secondary rotating wheel (22) is also semicircular in shape, and the arcs of the two mesh with each other. 2. The large surface inspection robot system according to claim 1 is characterized in that the end surface of the first transition section (41) and the corresponding end surface of the fixed slide rail (3) are both arc surfaces that match each other, and the end surface of the second transition section (42) and the corresponding end surface of the fixed slide rail (3) are both arc surfaces that match each other. 3. The large surface inspection robot system according to claim 1 is characterized in that a primary rotating shaft (211), a primary rotating disk (212) sleeved on the primary rotating shaft (211), and a primary mounting bracket (213) erected on the surface of the primary rotating disk (212) and used for mounting the first transition section (41) are also provided on the end face of the primary rotating wheel (21). 4. The large surface inspection robot system according to claim 1 is characterized in that a secondary rotating shaft (221), a secondary rotating disk (222) sleeved on the secondary rotating shaft (221), and a secondary mounting bracket (223) erected on the surface of the secondary rotating disk (222) and used for mounting the second transition section (42) are also provided on the end surface of the secondary rotating wheel (22). 5. The large surface inspection operation robot system according to any one of claims 1 to 4 is characterized in that the fixed slide rails (3) are distributed in parallel on the side surfaces of each of the passive robotic arms (1); and also include a rotating joint arm (7) rotatably connected in series to the end surface of each of the passive robotic arms (1), and a reversing slide rail (8) arranged on each side surface of the rotating joint arm (7) and used to dock with the corresponding fixed slide rail (3). 6. The large surface inspection robot system according to claim 5, characterized in that the rotary joint arm (7) and the passive robot arm (1) are both rectangular bodies with the same cross-sectional shape. 7. The large surface inspection robot system according to claim 6 is characterized in that the mobile working platform (5) includes a frame (51) and a sliding wheel system (52) arranged on the frame (51) and slidingly cooperating with the fixed slide rail (3), the transition slide rail (4), and the reversing slide rail (8), and a driver (53) arranged on the frame (51) and used to drive the rotational sub-mechanism (2) to rotate, drive the transition slide rail (4) to deflect, and drive the rotating joint arm (7) to rotate when sliding to a corresponding position. 8. The large surface inspection robot system according to claim 7, characterized in that the inspection module (6) comprises a retractable connecting rod (61) connected to the frame (51) and a plurality of detection sensors (62) arranged at the end of the connecting rod (61).